Design of a two DOF laminate leg transmission for creating walking robot platforms

Benjamin D. Shuch, Taha Shafa, Eric Rogers, Daniel M. Aukes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this article we present a low-cost, two degree-of-freedom laminate robot transmission for legged locomotion applications. This transmission is specifically applied in the design of a quadrupedal robot, and has the potential to be used in other multi-legged systems. It offers a complex control space with a variety of different programmable gait trajectories, while leveraging low-cost linkages made using laminate approaches. The two-degree-of-freedom kinematics of the leg are subsequently modeled in Python, and the workspace of the robot is then experimentally verified on an initial quadrupedal design. Critical design considerations include the laminate design, the rigidity of the materials that make up the laminate, and the range of motion the device can undergo.

Original languageEnglish (US)
Title of host publication43rd Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791859247
DOIs
StatePublished - Jan 1 2019
EventASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2019 - Anaheim, United States
Duration: Aug 18 2019Aug 21 2019

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume5B-2019

Conference

ConferenceASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2019
Country/TerritoryUnited States
CityAnaheim
Period8/18/198/21/19

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modeling and Simulation

Fingerprint

Dive into the research topics of 'Design of a two DOF laminate leg transmission for creating walking robot platforms'. Together they form a unique fingerprint.

Cite this